A sliding mode control applied to whirling pendulum

Author

Mahjoub, Sonia ; Mnif, Faical ; Derbel, Nabil

fYear

2008

fDate

7-9 Nov. 2008

Firstpage

1

Lastpage

6

Abstract

In this paper, we present a VSS-based tracking control for a fixed point regulation of 2-DOF underactuated manipulators. The design approach is systematic and relies on the selection of appropriate choice of two sliding surface. The controller is designed for the both sliding surfaces are attractive. Lyapunov theory is used to study and demonstrate the stability of the system. Convergence of state space is proved and robustness issues to bounded disturbances are also investigated. Simulation results on 2-DOF whirling pendulum are presented to chow the effectiveness of this approach.

Keywords

Lyapunov methods; control system synthesis; manipulators; stability; variable structure systems; 2-DOF underactuated manipulators; Lyapunov theory; fixed point regulation; sliding mode control; state space convergence; whirling pendulum; Actuators; Control systems; Design optimization; Intelligent control; Linear feedback control systems; Manipulators; Mechanical systems; Robust control; Sliding mode control; Torque control; VSS; sliding mode; underactuated manipulator; whirling pendulum;

fLanguage

English

Publisher

ieee

Conference_Titel

Signals, Circuits and Systems, 2008. SCS 2008. 2nd International Conference on

Conference_Location

Monastir

Print_ISBN

978-1-4244-2627-0

Electronic_ISBN

978-1-4244-2628-7

Type

conf

DOI

10.1109/ICSCS.2008.4746910

Filename

4746910